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<h1>QVQuaternion Class Reference<br/>
<small>
[<a class="el" href="group__qvmath.html">Math functionality</a>]</small>
</h1><!-- doxytag: class="QVQuaternion" --><!-- doxytag: inherits="QVVector" -->
<p>Implementation of <a href="http://en.wikipedia.org/wiki/Quaternion">quaternions</a>.  
<a href="#_details">More...</a></p>

<p><code>#include &lt;<a class="el" href="qvquaternion_8h_source.html">QVQuaternion</a>&gt;</code></p>

<p>Inherits <a class="el" href="classQVVector.html">QVVector</a>.</p>

<p><a href="classQVQuaternion-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a7475a2c805849a356b5829a5595c536b">QVQuaternion</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Identity constructor.  <a href="#a7475a2c805849a356b5829a5595c536b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a9ee4bf11cb29232be2cef660fd0aacd6">QVQuaternion</a> (const <a class="el" href="classQVVector.html">QVVector</a> direction, const double phi)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Axis rotation constructor.  <a href="#a9ee4bf11cb29232be2cef660fd0aacd6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a9f43ae19fd6dd3976df89905bcd434b9">QVQuaternion</a> (const <a class="el" href="classQVVector.html">QVVector</a> &amp;source)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Construct from a vector.  <a href="#a9f43ae19fd6dd3976df89905bcd434b9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a34ab38090cece0117f5b85c403ff4b95">QVQuaternion</a> (const <a class="el" href="classQVVector.html">QVVector</a> direction, float phi)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Axis rotation constructor.  <a href="#a34ab38090cece0117f5b85c403ff4b95"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a167ab4825465615d392e80ea397e7165">QVQuaternion</a> (const double i, const double j, const double k, const double r)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Direct coordinates constructor.  <a href="#a167ab4825465615d392e80ea397e7165"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a3a5402f9367e97d887d39ce90373c1b3">QVQuaternion</a> (const double xAngle, const double yAngle, const double zAngle)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Constructor from 3 euler angles.  <a href="#a3a5402f9367e97d887d39ce90373c1b3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#ab5c7e55c31b8523d74fae84889a96ce4">QVQuaternion</a> (const <a class="el" href="classQVMatrix.html">QVMatrix</a> &amp;matrix)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Rotation matrix constructor.  <a href="#ab5c7e55c31b8523d74fae84889a96ce4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVQuaternion.html">QVQuaternion</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#af6a904c408cf4e90db487936e5d3984b">operator*</a> (const <a class="el" href="classQVQuaternion.html">QVQuaternion</a> &amp;quaternion) const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Quaternion product.  <a href="#af6a904c408cf4e90db487936e5d3984b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a8b13b219ed3525a38636af1166e94cf2">QVQuaternion</a> (const <a class="el" href="classQVQuaternion.html">QVQuaternion</a> &amp;quaternion)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Copy constructor.  <a href="#a8b13b219ed3525a38636af1166e94cf2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVQuaternion.html">QVQuaternion</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#ad6537490c23f56408af1db33b3f20d93">quaternionProduct</a> (const <a class="el" href="classQVQuaternion.html">QVQuaternion</a> &amp;quaternion) const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Combination operation for quaternions.  <a href="#ad6537490c23f56408af1db33b3f20d93"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#aeb4178065e8ff7ac908d5573869d826a">toEulerAngles</a> (double &amp;xAngle, double &amp;yAngle, double &amp;zAngle) const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Gets the Euler angles corresponding to the Quaternion.  <a href="#aeb4178065e8ff7ac908d5573869d826a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVMatrix.html">QVMatrix</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a00c343b8018cfc98536b13ff31341751">toRotationMatrix</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Gets the rotation matrix corresponding to the Quaternion.  <a href="#a00c343b8018cfc98536b13ff31341751"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVQuaternion.html">QVQuaternion</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#abce39f61e6deb9ca1fdab9a3745c0383">conjugate</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Gets the conjugate of the quaternion.  <a href="#abce39f61e6deb9ca1fdab9a3745c0383"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVQuaternion.html">QVQuaternion</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a50fdd28714a4034db3ba71dbd0a3af7f">inverse</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Gets the inverse of the quaternion.  <a href="#a50fdd28714a4034db3ba71dbd0a3af7f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#ac7a9049ab48eb43f9ed7ddae01b3126a">norm2</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Gets the norm2 of the quaternion.  <a href="#ac7a9049ab48eb43f9ed7ddae01b3126a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQV3DPointF.html">QV3DPointF</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#ad93f718564df9914bc11d2e893fcba3c">rotate</a> (const <a class="el" href="classQV3DPointF.html">QV3DPointF</a> &amp;v) const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Direct vector rotation.  <a href="#ad93f718564df9914bc11d2e893fcba3c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a4b71d76116709c6a6d1872bd1f137c9e">real</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns the coordinate for the real component of the cuaternion.  <a href="#a4b71d76116709c6a6d1872bd1f137c9e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#aebb9e948cd7fa6e1b60e4a27f573167d">i</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns the coordinate <em>i</em> of the cuaternion.  <a href="#aebb9e948cd7fa6e1b60e4a27f573167d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#adad1a0e10ae3d3413fe96b59ef103d26">j</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns the coordinate <em>j</em> of the cuaternion.  <a href="#adad1a0e10ae3d3413fe96b59ef103d26"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#ae7f769c05a5ba57ec0d776d88741eeae">k</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns the coordinate <em>k</em> of the cuaternion.  <a href="#ae7f769c05a5ba57ec0d776d88741eeae"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a6ac9a488821ae2bcbda2bb37037b9666">real</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Sets the coordinate for the real component of the cuaternion.  <a href="#a6ac9a488821ae2bcbda2bb37037b9666"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a7350ab0bc6daf95efabd0d1c4b211823">i</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Sets the coordinate <em>i</em> of the cuaternion.  <a href="#a7350ab0bc6daf95efabd0d1c4b211823"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#aaf0eede883780e0a1061c78918c3c226">j</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Sets the coordinate <em>j</em> of the cuaternion.  <a href="#aaf0eede883780e0a1061c78918c3c226"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a95baba23251a12d83190c695c9066727">k</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Sets the coordinate <em>k</em> of the cuaternion.  <a href="#a95baba23251a12d83190c695c9066727"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classQVQuaternion.html">QVQuaternion</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#a60343e6be165f7022ffc852a97d791c9">normalizeQuaternion</a> () const </td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Retuns a normalized quaternion.  <a href="#a60343e6be165f7022ffc852a97d791c9"></a><br/></td></tr>
<tr><td colspan="2"><h2>Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classQVQuaternion.html">QVQuaternion</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVQuaternion.html#afc059199578068271288acb8712cb083">trackball</a> (float p1x, float p1y, float p2x, float p2y)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Gets the quaternion corresponding to a trackball rotation.  <a href="#afc059199578068271288acb8712cb083"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Implementation of <a href="http://en.wikipedia.org/wiki/Quaternion">quaternions</a>. </p>
<p>Quaternions are an extension of the imaginary numbers. They are mostly used to represent rotations in the euclidean 3D space. </p>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00044">44</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>
<hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a7475a2c805849a356b5829a5595c536b"></a><!-- doxytag: member="QVQuaternion::QVQuaternion" ref="a7475a2c805849a356b5829a5595c536b" args="()" -->
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          <td class="memname">QVQuaternion::QVQuaternion </td>
          <td>(</td>
          <td class="paramname"></td>
          <td>&nbsp;)&nbsp;</td>
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<div class="memdoc">

<p>Identity constructor. </p>
<p>Creates quaternion to identity rotation. </p>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00032">32</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

<p>Referenced by <a class="el" href="classQVQuaternion.html#ab5c7e55c31b8523d74fae84889a96ce4">QVQuaternion()</a>, and <a class="el" href="classQVQuaternion.html#afc059199578068271288acb8712cb083">trackball()</a>.</p>

</div>
</div>
<a class="anchor" id="a9ee4bf11cb29232be2cef660fd0aacd6"></a><!-- doxytag: member="QVQuaternion::QVQuaternion" ref="a9ee4bf11cb29232be2cef660fd0aacd6" args="(const QVVector direction, const double phi)" -->
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          <td class="memname">QVQuaternion::QVQuaternion </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classQVVector.html">QVVector</a>&nbsp;</td>
          <td class="paramname"> <em>direction</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&nbsp;</td>
          <td class="paramname"> <em>phi</em></td><td>&nbsp;</td>
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          <td>)</td>
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<p>Axis rotation constructor. </p>
<p>Creates a quaternion object which rotates around a direction a given angle.</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>direction</em>&nbsp;</td><td>quaternion will rotate around this direction. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>phi</em>&nbsp;</td><td>quaternion will rotate this angle, given in radians. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00039">39</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

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<a class="anchor" id="a9f43ae19fd6dd3976df89905bcd434b9"></a><!-- doxytag: member="QVQuaternion::QVQuaternion" ref="a9f43ae19fd6dd3976df89905bcd434b9" args="(const QVVector &amp;source)" -->
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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classQVVector.html">QVVector</a> &amp;&nbsp;</td>
          <td class="paramname"> <em>source</em></td>
          <td>&nbsp;)&nbsp;</td>
          <td><code> [inline]</code></td>
        </tr>
      </table>
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<p>Construct from a vector. </p>
<p>Creates a quaternion from a vector of size 4.</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>source</em>&nbsp;</td><td>The vector of size 4. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00068">68</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>

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          <td class="paramname"> <em>direction</em>, </td>
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          <td class="paramname"> <em>phi</em></td><td>&nbsp;</td>
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<p>Axis rotation constructor. </p>
<p>Creates a quaternion object which rotates around a direction a given angle.</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>direction</em>&nbsp;</td><td>quaternion will rotate around this direction. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>phi</em>&nbsp;</td><td>quaternion will rotate this angle, given in radians. </td></tr>
  </table>
  </dd>
</dl>

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<p>Direct coordinates constructor. </p>
<p>Creates a quaternion from its coordinate coefficients.</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>i</em>&nbsp;</td><td>Coefficient for the <em>i</em> coordinate </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>j</em>&nbsp;</td><td>Coefficient for the <em>j</em> coordinate </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>k</em>&nbsp;</td><td>Coefficient for the <em>k</em> coordinate </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>r</em>&nbsp;</td><td>Coefficient for the real coordinate </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00147">147</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

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          <td class="paramname"> <em>xAngle</em>, </td>
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          <td class="paramtype">const double&nbsp;</td>
          <td class="paramname"> <em>yAngle</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double&nbsp;</td>
          <td class="paramname"> <em>zAngle</em></td><td>&nbsp;</td>
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          <td>)</td>
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<p>Constructor from 3 euler angles. </p>
<p>Creates a quaternion given the three euler angles of the rotation it represents. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>xAngle</em>&nbsp;</td><td>Euler angle for the <em>x</em> axis. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>yAngle</em>&nbsp;</td><td>Euler angle for the <em>y</em> axis. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>zAngle</em>&nbsp;</td><td>Euler angle for the <em>z</em> axis. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00158">158</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

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<p>Rotation matrix constructor. </p>
<p>Creates a quaternion from a rotation matrix.</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>matrix</em>&nbsp;</td><td>rotation matrix to create the quaternion from </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00052">52</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

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<a class="anchor" id="a8b13b219ed3525a38636af1166e94cf2"></a><!-- doxytag: member="QVQuaternion::QVQuaternion" ref="a8b13b219ed3525a38636af1166e94cf2" args="(const QVQuaternion &amp;quaternion)" -->
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          <td class="paramname"> <em>quaternion</em></td>
          <td>&nbsp;)&nbsp;</td>
          <td><code> [inline]</code></td>
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<p>Copy constructor. </p>
<p>Creates a quaternion copying its coordinates from a given one.</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>quaternion</em>&nbsp;</td><td>quaternion to copy coordinates </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00114">114</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>

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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="af6a904c408cf4e90db487936e5d3984b"></a><!-- doxytag: member="QVQuaternion::operator*" ref="af6a904c408cf4e90db487936e5d3984b" args="(const QVQuaternion &amp;quaternion) const " -->
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          <td class="memname"><a class="el" href="classQVQuaternion.html">QVQuaternion</a> QVQuaternion::operator* </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classQVQuaternion.html">QVQuaternion</a> &amp;&nbsp;</td>
          <td class="paramname"> <em>quaternion</em></td>
          <td>&nbsp;)&nbsp;</td>
          <td> const<code> [inline]</code></td>
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<p>Quaternion product. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>quaternion</em>&nbsp;</td><td>operand for the product </td></tr>
  </table>
  </dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classQVQuaternion.html#ad6537490c23f56408af1db33b3f20d93" title="Combination operation for quaternions.">quaternionProduct</a> </dd></dl>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00107">107</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>

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<a class="anchor" id="afc059199578068271288acb8712cb083"></a><!-- doxytag: member="QVQuaternion::trackball" ref="afc059199578068271288acb8712cb083" args="(float p1x, float p1y, float p2x, float p2y)" -->
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          <td class="paramname"> <em>p1y</em>, </td>
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          <td class="paramtype">float&nbsp;</td>
          <td class="paramname"> <em>p2x</em>, </td>
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          <td class="paramname"> <em>p2y</em></td><td>&nbsp;</td>
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<p>Gets the quaternion corresponding to a trackball rotation. </p>
<p>Creates a quaternion which rotates given two points at a plane, mapped to a sphere.</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>p1x</em>&nbsp;</td><td>first coordinate for first point. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>p1y</em>&nbsp;</td><td>second coordinate for first point. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>p2x</em>&nbsp;</td><td>first coordinate for second point. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>p2y</em>&nbsp;</td><td>second coordinate for second point. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>quaternion corresponding to rotate in a sphere from point (p1x, p1y) to (p2x, p2y). corresponding to this quaternion, and at element (4,4), the unity. </dd></dl>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00186">186</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

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          <td class="memname"><a class="el" href="classQVQuaternion.html">QVQuaternion</a> QVQuaternion::quaternionProduct </td>
          <td>(</td>
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<p>Combination operation for quaternions. </p>
<p>Creates a quaternion corresponding to combination of rotations corresponding to actual quaternion and the one received by parameter</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>quaternion</em>&nbsp;</td><td>operand in the combining operation. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>resulting quaternion. </dd></dl>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00218">218</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

<p>Referenced by <a class="el" href="classQVQuaternion.html#af6a904c408cf4e90db487936e5d3984b">operator*()</a>.</p>

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<a class="anchor" id="aeb4178065e8ff7ac908d5573869d826a"></a><!-- doxytag: member="QVQuaternion::toEulerAngles" ref="aeb4178065e8ff7ac908d5573869d826a" args="(double &amp;xAngle, double &amp;yAngle, double &amp;zAngle) const " -->
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          <td class="paramname"> <em>xAngle</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">double &amp;&nbsp;</td>
          <td class="paramname"> <em>yAngle</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">double &amp;&nbsp;</td>
          <td class="paramname"> <em>zAngle</em></td><td>&nbsp;</td>
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<p>Gets the Euler angles corresponding to the Quaternion. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>xAxis</em>&nbsp;</td><td>Return variable that will contain the rotation in the <em>x</em> angle for the quaternion. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>yAxis</em>&nbsp;</td><td>Return variable that will contain the rotation in the <em>y</em> angle for the quaternion. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>zAxis</em>&nbsp;</td><td>Return variable that will contain the rotation in the <em>z</em> angle for the quaternion. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00234">234</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

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<p>Gets the rotation matrix corresponding to the Quaternion. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>rotation matrix </dd></dl>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00253">253</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

<p>Referenced by <a class="el" href="classQVMatrix.html#a790874f74bdbebb42ba4e9b36bdfc9a1">QVMatrix::QVMatrix()</a>, <a class="el" href="classQVCameraPose.html#ad976cef1f2d772209dfb55f0f105072b">QVCameraPose::toProjectionMatrix()</a>, and <a class="el" href="classQVEuclideanMapping3.html#a38a8068d953454ddaf0ef3ff975b9804">QVEuclideanMapping3::toRotationTranslationMatrix()</a>.</p>

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<a class="anchor" id="abce39f61e6deb9ca1fdab9a3745c0383"></a><!-- doxytag: member="QVQuaternion::conjugate" ref="abce39f61e6deb9ca1fdab9a3745c0383" args="() const " -->
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<p>Gets the conjugate of the quaternion. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The conjugate quaternion. </dd></dl>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00280">280</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

<p>Referenced by <a class="el" href="classQVQuaternion.html#a50fdd28714a4034db3ba71dbd0a3af7f">inverse()</a>, and <a class="el" href="classQVQuaternion.html#ad93f718564df9914bc11d2e893fcba3c">rotate()</a>.</p>

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<p>Gets the inverse of the quaternion. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The inverse quaternion. </dd></dl>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00290">290</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

<p>Referenced by <a class="el" href="classQVCameraPose.html#a3db80981040aa1759e972e60129a6add">QVCameraPose::compose()</a>, <a class="el" href="classQVEuclideanMapping3.html#af891d3f088eb8fb3eb6ad9c0b9144b82">QVEuclideanMapping3::inverse()</a>, and <a class="el" href="classQVCameraPose.html#a8f8733e34460af6dda637385e358f1e1">QVCameraPose::inverse()</a>.</p>

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<p>Gets the norm2 of the quaternion. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The value of the norm 2 </dd></dl>

<p>Reimplemented from <a class="el" href="classQVVector.html#a49c6f41f1fa80efcc943f1c26fdcbf05">QVVector</a>.</p>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00302">302</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

<p>Referenced by <a class="el" href="classQVCameraPose.html#a3db80981040aa1759e972e60129a6add">QVCameraPose::compose()</a>, <a class="el" href="classQVQuaternion.html#abce39f61e6deb9ca1fdab9a3745c0383">conjugate()</a>, <a class="el" href="classQVQuaternion.html#a50fdd28714a4034db3ba71dbd0a3af7f">inverse()</a>, <a class="el" href="classQVCameraPose.html#a8f8733e34460af6dda637385e358f1e1">QVCameraPose::inverse()</a>, <a class="el" href="classQVCameraPose.html#a97fa6dbe48643f88c997c72feae108ea">QVCameraPose::operator QVEuclideanMapping3()</a>, <a class="el" href="classQVCameraPose.html#a016dd44c3f2517e242feed030ae05651">QVCameraPose::operator QVVector()</a>, <a class="el" href="classQVCameraPose.html#a49c48c2f18fa0f7da4df1ef3e9adf572">QVCameraPose::operator!=()</a>, <a class="el" href="classQVCameraPose.html#a92d6b001739c6c5fa2742c7722d8a042">QVCameraPose::operator==()</a>, <a class="el" href="classQVCameraPose.html#a618a5bf0fe0bb41ba717eef051198a4b">QVCameraPose::project()</a>, <a class="el" href="classQVQuaternion.html#ad6537490c23f56408af1db33b3f20d93">quaternionProduct()</a>, <a class="el" href="classQVCameraPose.html#a52ad0074e213ff741d1e7a8212290f11">QVCameraPose::QVCameraPose()</a>, <a class="el" href="classQVQuaternion.html#a7475a2c805849a356b5829a5595c536b">QVQuaternion()</a>, <a class="el" href="classQVQuaternion.html#ad93f718564df9914bc11d2e893fcba3c">rotate()</a>, <a class="el" href="classQVCameraPose.html#a024c8a5a0b5506debb6ae08f9f3ab57c">QVCameraPose::toCameraReferenceCoordinates()</a>, <a class="el" href="classQVQuaternion.html#aeb4178065e8ff7ac908d5573869d826a">toEulerAngles()</a>, <a class="el" href="classQVCameraPose.html#ad976cef1f2d772209dfb55f0f105072b">QVCameraPose::toProjectionMatrix()</a>, <a class="el" href="classQVQuaternion.html#a00c343b8018cfc98536b13ff31341751">toRotationMatrix()</a>, and <a class="el" href="classQVQuaternion.html#afc059199578068271288acb8712cb083">trackball()</a>.</p>

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<a class="anchor" id="ad93f718564df9914bc11d2e893fcba3c"></a><!-- doxytag: member="QVQuaternion::rotate" ref="ad93f718564df9914bc11d2e893fcba3c" args="(const QV3DPointF &amp;v) const " -->
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          <td class="memname"><a class="el" href="classQV3DPointF.html">QV3DPointF</a> QVQuaternion::rotate </td>
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<p>Direct vector rotation. </p>
<p>Rotates a 3D Applies the quaternion rotation to a 3D point.</p>
<dl class="return"><dt><b>Returns:</b></dt><dd>resulting 3D point. </dd></dl>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00307">307</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

<p>Referenced by <a class="el" href="classQVEuclideanMapping3.html#ac571ddc6c4f7c05faf81aae1e67b3d5f">QVEuclideanMapping3::apply()</a>, <a class="el" href="classQVEuclideanMapping3.html#a0f7986ac48c1fe02d6b75b15824fcaeb">QVEuclideanMapping3::compose()</a>, <a class="el" href="classQVCameraPose.html#a3db80981040aa1759e972e60129a6add">QVCameraPose::compose()</a>, <a class="el" href="classQVEuclideanMapping3.html#af891d3f088eb8fb3eb6ad9c0b9144b82">QVEuclideanMapping3::inverse()</a>, <a class="el" href="classQVCameraPose.html#a8f8733e34460af6dda637385e358f1e1">QVCameraPose::inverse()</a>, <a class="el" href="classQVCameraPose.html#a97fa6dbe48643f88c997c72feae108ea">QVCameraPose::operator QVEuclideanMapping3()</a>, <a class="el" href="classQVCameraPose.html#a618a5bf0fe0bb41ba717eef051198a4b">QVCameraPose::project()</a>, <a class="el" href="classQVCameraPose.html#a024c8a5a0b5506debb6ae08f9f3ab57c">QVCameraPose::toCameraReferenceCoordinates()</a>, and <a class="el" href="classQVCameraPose.html#ad976cef1f2d772209dfb55f0f105072b">QVCameraPose::toProjectionMatrix()</a>.</p>

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<a class="anchor" id="a4b71d76116709c6a6d1872bd1f137c9e"></a><!-- doxytag: member="QVQuaternion::real" ref="a4b71d76116709c6a6d1872bd1f137c9e" args="()" -->
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<p>Returns the coordinate for the real component of the cuaternion. </p>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00172">172</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>

<p>Referenced by <a class="el" href="classQVQuaternion.html#ab5c7e55c31b8523d74fae84889a96ce4">QVQuaternion()</a>.</p>

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<p>Returns the coordinate <em>i</em> of the cuaternion. </p>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00175">175</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>

<p>Referenced by <a class="el" href="classQVQuaternion.html#a60343e6be165f7022ffc852a97d791c9">normalizeQuaternion()</a>, and <a class="el" href="classQVQuaternion.html#ab5c7e55c31b8523d74fae84889a96ce4">QVQuaternion()</a>.</p>

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<a class="anchor" id="adad1a0e10ae3d3413fe96b59ef103d26"></a><!-- doxytag: member="QVQuaternion::j" ref="adad1a0e10ae3d3413fe96b59ef103d26" args="()" -->
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<p>Returns the coordinate <em>j</em> of the cuaternion. </p>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00178">178</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>

<p>Referenced by <a class="el" href="classQVQuaternion.html#ab5c7e55c31b8523d74fae84889a96ce4">QVQuaternion()</a>.</p>

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<a class="anchor" id="ae7f769c05a5ba57ec0d776d88741eeae"></a><!-- doxytag: member="QVQuaternion::k" ref="ae7f769c05a5ba57ec0d776d88741eeae" args="()" -->
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<p>Returns the coordinate <em>k</em> of the cuaternion. </p>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00181">181</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>

<p>Referenced by <a class="el" href="classQVQuaternion.html#ab5c7e55c31b8523d74fae84889a96ce4">QVQuaternion()</a>.</p>

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<p>Sets the coordinate for the real component of the cuaternion. </p>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00184">184</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>

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<p>Sets the coordinate <em>i</em> of the cuaternion. </p>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00187">187</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>

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<p>Sets the coordinate <em>j</em> of the cuaternion. </p>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00190">190</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>

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<a class="anchor" id="a95baba23251a12d83190c695c9066727"></a><!-- doxytag: member="QVQuaternion::k" ref="a95baba23251a12d83190c695c9066727" args="() const " -->
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<p>Sets the coordinate <em>k</em> of the cuaternion. </p>

<p>Definition at line <a class="el" href="qvquaternion_8h_source.html#l00193">193</a> of file <a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a>.</p>

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          <td class="memname"><a class="el" href="classQVQuaternion.html">QVQuaternion</a> QVQuaternion::normalizeQuaternion </td>
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<p>Retuns a normalized quaternion. </p>

<p>Definition at line <a class="el" href="qvquaternion_8cpp_source.html#l00207">207</a> of file <a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/qvmath/<a class="el" href="qvquaternion_8h_source.html">qvquaternion.h</a></li>
<li>src/qvmath/<a class="el" href="qvquaternion_8cpp_source.html">qvquaternion.cpp</a></li>
</ul>
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